双足足球机器人行走步态研究  

Research on walking gait based on biped soccer robot

作　　者：杨晶东[1] 洪炳镕[1] 黄庆成[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2005年第7期876-878,共3页Journal of Harbin Institute of Technology

基　　金：黑龙江省博士后启动基金资助项目(LHK-04079).

摘　　要：为了研究双足足球机器人行走时步态的连续性和稳定性,首先提出了双足足球机器人的体系结构,然后给出了基本步态算法,增加了行进中步态校正策略,包括动态和静态步伐的校正.解决了动、静态行走时步态的准确性和鲁棒性.试验数据验证了步态方程和步态校正策略能够适应FIRA比赛要求.In order to study the gait continuity and stability of the biped soccer robot, the control system architecture of biped soccer robot is briefly presented. Then the walking gait algorithms of biped soccer robot are derived. The gait emendation strategies of biped robot are discussed, which include the dynamic and static walking emendation strategy. Therefore the veracity and robustness of walking gait are insured. The experiment data show that the strategies are able to satisfy the rules of the FIRA game.

关 键 词：零力矩点 步态校正策略 双足足球机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]